1. Warm the milk until lukewarm and combine with granulated sugar and yeast in a large bowl. Let it sit until foamy, about 10 minutes.

2. Add melted butter, egg, and salt to the yeast mixture. Stir to combine. Gradually add flour and mix until a dough forms.

3. Knead the dough on a floured surface for 5 minutes until smooth and elastic. Transfer to a greased bowl, cover, and let rise for 1 hour.

4. Mix softened butter, brown sugar, and cinnamon in a small bowl to make the filling.

5. Roll out dough into a 12×16 inch rectangle. Spread the cinnamon filling evenly over the surface.

6. Roll the dough tightly into a log from the long edge. Slice into 12 equal pieces and place in a greased 9×13 inch pan.

7. Cover and let the rolls rise for another 30 to 45 minutes until puffy. Preheat oven to 350°F.

8. Bake for 25 to 30 minutes or until golden brown.

9. While rolls bake, beat cream cheese, powdered sugar, vanilla, and milk until smooth to make glaze.

10. Spread glaze over warm rolls and serve.